scholarly journals Optimal PID Based Computed Torque Control of Tumor Growth Models ⁎ ⁎This project has received funding from the European Research Council (ERC) under the European Unions Horizon 2020 research and innovation programme (grant agreement No 679681). B.G. Czak was supported by the UNKP-17-2/I. New National Excellence Program of the Ministry of Human Capacities.

2018 ◽  
Vol 51 (4) ◽  
pp. 900-905
Author(s):  
Bence G. Czakó ◽  
Johanna Sápi ◽  
Levente Kovács
Keyword(s):  
Research Council ◽  
Growth Models ◽  
Torque Control ◽  
European Research ◽  
Horizon 2020 ◽  
Research And Innovation ◽  
Computed Torque Control ◽  
Tumor Growth Models ◽  
Programme Grant ◽  
Computed Torque

A PD Computed Torque Control Method with Online Self-gain Tuning for a 3UPS-PS Parallel Robot

Robotica ◽  
2021 ◽  
pp. 1-13
Author(s):  
Xiaogang Song ◽  
Yongjie Zhao ◽  
Chengwei Chen ◽  
Liang’an Zhang ◽  
Xinjian Lu
Keyword(s):  
Feedback Loop ◽  
Control Method ◽  
Virtual Work ◽  
Parallel Robot ◽  
Torque Control ◽  
Virtual Work Principle ◽  
Tuning Method ◽  
Computed Torque Control ◽  
Control Feedback ◽  
Computed Torque

SUMMARY In this paper, an online self-gain tuning method of a PD computed torque control (CTC) is used for a 3UPS-PS parallel robot. The CTC is applied to the 3UPS-PS parallel robot based on the robot dynamic model which is established via a virtual work principle. The control system of the robot comprises a nonlinear feed-forward loop and a PD control feedback loop. To implement real-time online self-gain tuning, an adjustment method based on the genetic algorithm (GA) is proposed. Compared with the traditional CTC, the simulation results indicate that the control algorithm proposed in this study can not only enhance the anti-interference ability of the system but also improve the trajectory tracking speed and the accuracy of the 3UPS-PS parallel robot.

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